diff --git a/frtos/line_sensor/line_sensor_init.h b/frtos/line_sensor/line_sensor_init.h
index 8fde184..1388f37 100644
--- a/frtos/line_sensor/line_sensor_init.h
+++ b/frtos/line_sensor/line_sensor_init.h
@@ -31,7 +31,7 @@ SemaphoreHandle_t g_left_sensor_sem = NULL;
 static inline void
 line_sensor_init(car_struct_t *p_car_struct)
 {
-    p_car_struct->obs->line_detected = false;
+    p_car_struct->obs->left_sensor_detected, p_car_struct->obs->left_sensor_detected = false;
 
     g_left_sensor_sem = xSemaphoreCreateBinary();
 
diff --git a/frtos/rtos_car.c b/frtos/rtos_car.c
index 8106448..6b54826 100644
--- a/frtos/rtos_car.c
+++ b/frtos/rtos_car.c
@@ -8,7 +8,7 @@ bool
 check_collision(void *params)
 {
     car_struct_t *car_struct = (car_struct_t *)params;
-    return ((car_struct->obs->left_line_detected << 1) | (car_struct->obs->right_line_detected))
+    return ((car_struct->obs->left_sensor_detected << 1) | (car_struct->obs->right_sensor_detected))
            || car_struct->obs->ultrasonic_detected;
 }
 
@@ -17,8 +17,8 @@ check_line_touch(void *params)
 {
     car_struct_t *car_struct = (car_struct_t *)params;
 
-    return (car_struct->obs->left_line_detected << 1) | (car_struct->obs->right_line_detected);
-
+    return (car_struct->obs->left_sensor_detected << 1) | (car_struct->obs->right_sensor_detected);
+}
 void
 motor_control_task(void *params)
 {